Controlo difuso de um AGV

Neste trabalho pretende-se introduzir os conceitos associados à lógica difusa no controlo de sistemas, neste caso na área da robótica autónoma, onde é feito um enquadramento da utilização de controladores difusos na mesma. Foi desenvolvido de raiz um AGV (Autonomous Guided Vehicle) de modo a se implementar o controlador difuso, e testar o desempenho do mesmo. Uma vez que se pretende de futuro realizar melhorias e/ou evoluções optou-se por um sistema modular em que cada módulo é responsável por uma determinada tarefa. Neste trabalho existem três módulos que são responsáveis pelo controlo de velocidade, pela aquisição dos dados dos sensores e, por último, pelo controlador difuso do sistema. Após a implementação do controlador difuso, procedeu-se a testes para validar o sistema onde foram recolhidos e registados os dados provenientes dos sensores durante o funcionamento normal do robô. Este dados permitiram uma melhor análise do desempenho do robô. Verifica-se que a lógica difusa permite obter uma maior suavidade na transição de decisões, e que com o aumento do número de regras é possível tornar o sistema ainda mais suave. Deste modo, verifica-se que a lógica difusa é uma ferramenta útil e funcional para o controlo de aplicações. Como desvantagem surge a quantidade de dados associados à implementação, tais como, os universos de discurso, as funções de pertença e as regras. Ao se aumentar o número de regras de controlo do sistema existe também um aumento das funções de pertença consideradas para cada variável linguística; este facto leva a um aumento da memória necessária e da complexidade na implementação pela quantidade de dados que têm de ser tratados. A maior dificuldade no projecto de um controlador difuso encontra-se na definição das variáveis linguísticas através dos seus universos de discurso e das suas funções de pertença, pois a definição destes pode não ser a mais adequada ao contexto de controlo e torna-se necessário efectuar testes e, consequentemente, modificações à definição das funções de pertença para melhorar o desempenho do sistema. Todos os aspectos referidos são endereçados no desenvolvimento do AGV e os respectivos resultados são apresentados e analisados.

ß-Lactams: chemical structure, mode of action and mechanisms of resistance

This synopsis summarizes the key chemical and bacteriological characteristics of β-lactams, penicillins, cephalosporins, carbanpenems, monobactams and others. Particular notice is given to first-generation to fifth-generation cephalosporins. This review also summarizes the main resistance mechanism to antibiotics, focusing particular attention to those conferring resistance to broad-spectrum cephalosporins by means of production of emerging cephalosporinases (extended-spectrum β-lactamases and AmpC β-lactamases), target alteration (penicillin-binding proteins from methicillin-resistant Staphylococcus aureus) and membrane transporters that pump β-lactams out of the bacterial cell.

Indexação e pesquisa de informação com base em ontologias interligadas

Tecnologias da Web Semântica como RDF, OWL e SPARQL sofreram nos últimos anos um forte crescimento e aceitação. Projectos como a DBPedia e Open Street Map começam a evidenciar o verdadeiro potencial da Linked Open Data. No entanto os motores de pesquisa semânticos ainda estão atrasados neste crescendo de tecnologias semânticas. As soluções disponíveis baseiam-se mais em recursos de processamento de linguagem natural. Ferramentas poderosas da Web Semântica como ontologias, motores de inferência e linguagens de pesquisa semântica não são ainda comuns. Adicionalmente a esta realidade, existem certas dificuldades na implementação de um Motor de Pesquisa Semântico. Conforme demonstrado nesta dissertação, é necessária uma arquitectura federada de forma a aproveitar todo o potencial da Linked Open Data. No entanto um sistema federado nesse ambiente apresenta problemas de performance que devem ser resolvidos através de cooperação entre fontes de dados. O standard actual de linguagem de pesquisa na Web Semântica, o SPARQL, não oferece um mecanismo para cooperação entre fontes de dados. Esta dissertação propõe uma arquitectura federada que contém mecanismos que permitem cooperação entre fontes de dados. Aborda o problema da performance propondo um índice gerido de forma centralizada assim como mapeamentos entre os modelos de dados de cada fonte de dados. A arquitectura proposta é modular, permitindo um crescimento de repositórios e funcionalidades simples e de forma descentralizada, à semelhança da Linked Open Data e da própria World Wide Web. Esta arquitectura trabalha com pesquisas por termos em linguagem natural e também com inquéritos formais em linguagem SPARQL. No entanto os repositórios considerados contêm apenas dados em formato RDF. Esta dissertação baseia-se em múltiplas ontologias partilhadas e interligadas.

After Bologna: does the shift in structure bring forth a shift in a attitude?

With this case-study, we (i) intend to show how a semester project on creating a Multimedia CV could, to some extent, help Portuguese final-year students develop some generic competences, change their attitude towards the challenge of "How to Apply fro a Job" and increase their self-marketing strategies, creativity and entrepreneurship cannot answer the question of the paper, but intend onlu to raise it fot further and better studies now that Bologna design is implementes in almost all HEIs Europe.

Characterization of the effects of antiepileptic drugs on bone metabolism: in vitro studies with human osteoblastic and osteoclastic cells

Bone is constantly being molded and shaped by the action of osteoclasts and osteoblasts. A proper equilibrium between both cell types metabolic activities is required to ensure an adequate skeletal tissue structure, and it involves resorption of old bone and formation of new bone tissue. It is reported that treatment with antiepileptic drugs (AEDs) can elicit alterations in skeletal structure, in particular in bone mineral density. Nevertheless, the knowledge regarding the effects of AEDs on bone cells are still scarce. In this context, the aim of this study was to investigate the effects of five different AEDs on human osteoclastic, osteoblastic and co-cultured cells. Osteoclastic cell cultures were established from precursor cells isolated from human peripheral blood and were characterized for tartrate-resistant acid phosphatase (TRAP) activity, number of TRAP+ multinucleated cells, presence of cells with actin rings and expressing vitronectin and calcitonin receptors and apoptosis rate. Also, the involvement of several signaling pathways on the cellular response was addressed. Osteoblastic cell cultures were obtained from femur heads of patients (25-45 years old) undergoing orthopaedic surgery procedures and were then studied for cellular proliferation/viability, ALP activity, histochemical staining of ALP and apoptosis rate. Also the expression of osteoblast-related genes and the involvement of some osteoblastogenesis-related signalling pathways on cellular response were addressed. For co-cultured cells, osteoblastic cells were firstly seeded and cultured. After that, PBMC were added to the osteoblastic cells and co-cultures were evaluated using the same osteoclast and osteoblast parameters mentioned above for the corresponding isolated cell. Cell-cultures were maintained in the absence (control) or in the presence of different AEDs (carbamazepine, gabapentin, lamotrigine, topiramate and valproic acid). All the tested drugs were able to affect osteoclastic and osteoblastic cells development, although with different profiles on their osteoclastogenic and osteoblastogenic modulation properties. Globally, the tendency was to inhibit the process. Furthermore, the signaling pathways involved in the process also seemed to be differently affected by the AEDs, suggesting that the different drugs may affect osteoclastogenesis and/or osteoblastogenesis through different mechanisms. In conclusion, the present study showed that the different AEDs had the ability to directly and indirectly modulate bone cells differentiation, shedding new light towards a better understanding of how these drugs can affect bone tissue.

Antioxidant properties of hydroxycinnamic acids: a review of structure- activity relationships

Hydroxycinnamic acids (HCAs) are important phytochemicals possessing significant biological properties. Several investigators have studied in vitro antioxidant activity of HCAs in detail. In this review, we have gathered the studies focused on the structure-activity relationships (SARs) of these compounds that have used medicinal chemistry to generate more potent antioxidant molecules. Most of the reports indicated that the presence of an unsaturated bond on the side chain of HCAs is vital to their activity. The structural features that were reported to be of importance to the antioxidant activity were categorized as follows: modifications of the aromatic ring, which include alterations in the number and position of hydroxy groups and insertion of electron donating or withdrawing moieties as well as modifications of the carboxylic function that include esterification and amidation process. Furthermore, reports that have addressed the influence of physicochemical properties including redox potential, lipid solubility and dissociation constant on the antioxidant activity were also summarized. Finally, the pro-oxidant effect of HCAs in some test systems was addressed. Most of the investigations concluded that the presence of ortho-dihydroxy phenyl group (catechol moiety) is of significant importance to the antioxidant activity, while, the presence of three hydroxy groups does not necessarily improve the activity. Optimization of the structure of molecular leads is an important task of modern medicinal chemistry and its accomplishment relies on the careful assessment of SARs. SAR studies on HCAs can identify the most successful antioxidants that could be useful for management of oxidative stress-related diseases.

β-Lactams: chemical structure, mode of action and mechanisms of resistance

This synopsis summarizes the key chemical and bacteriological characteristics of β-lactams, penicillins, cephalosporins, carbanpenems, monobactams and others. Particular notice is given to first-generation to fifth-generation cephalosporins. This reviewalso summarizes the main resistancemechanism to antibiotics, focusing particular attention to those conferring resistance to broad-spectrum cephalosporins by means of production of emerging cephalosporinases (extended-spectrum β-lactamases and AmpC β-lactamases), target alteration (penicillin-binding proteins from methicillin-resistant Staphylococcus aureus) and membrane transporters that pump β-lactams out of the bacterial cell.

The effect of fractional order in variable structure control

This paper studies fractional variable structure controllers. Two cases are considered namely, the sliding reference model and the control action, that are generalized from integer into fractional orders. The test bed consists in a mechanical manipulator and the effect of the fractional approach upon the system performance is evaluated. The results show that fractional dynamics, both in the switching surface and the control law are important design algorithms in variable structure controllers.

Habitação modular evolutiva

Da necessidade de criação de habitações que se adaptem ao constante dinamismo do ser humano, surgiu a ideia da concepção de um edifício evolutivo com base na construção modular. A construção modular poderá ser entendida como sendo a principal resposta ao combate da construção de estruturas físicas e imóveis, com características inalteráveis ao longo do tempo. Com este trabalho idealizou-se uma habitação evolutiva, baseado nos conceitos da Coordenação Modular, identificando-se as suas especificações, exigências de desempenho e características funcionais. Foi considerada como medida modular base 0,10m. Os módulos foram pensados com o intuito de que o seu desempenho prático seja satisfatório. A sua base estrutural foi executada a partir do rearranjo de contentores marítimos. Previu-se ainda, o uso de coberturas verdes por serem uma solução comprovada de minorar notoriamente o efeito pernicioso que a construção tem sobre o meio ambiente, ao mesmo tempo que apresentam vantagens térmicas e acústicas. A questão do incentivo do uso da pré-fabricação em Portugal a uma maior escala, não poderia ser descurada. A apresentação de eventuais desenvolvimentos futuros é também relevante, dada a importância que é inerente ao âmbito da industrialização da construção. Do estudo realizado ficaram ainda, bem patentes, os benefícios da racionalização e da industrialização, tanto em termos económicos como em termos ambientais. É possível executar um projecto com níveis de perdas mais baixos e com índices de qualidade superiores a um menor preço.

Towards Active Course Marks for Autonomous Sailing Competitions

This paper describes the environmental monitoring / regatta beacon buoy under development at the Laboratory of Autonomous Systems (LSA) of the Polytechnic Institute of Porto. On the one hand, environmentalmonitoring of open water bodies in real or deferred time is essential to assess and make sensible decisions and, on the other hand, the broadcast in real time of position, water and wind related parameters allows autonomous boats to optimise their regatta performance. This proposal, rather than restraining the boats autonomy, fosters the development of intelligent behaviour by allowing the boats to focus on regatta strategy and tactics. The Nautical and Telemetric Application (NAUTA) buoy is a dual mode reconfigurable system that includes communications, control, data logging, sensing, storage and power subsystems. In environmental monitoring mode, the buoy gathers and stores data from several underwater and above water sensors and, in regatta mode, the buoy becomes an active course mark for the autonomous sailing boats in the vicinity. During a race, the buoy broadcasts its position, together with the wind and the water current local conditions, allowing autonomous boats to navigate towards and round the mark successfully. This project started with the specification of the requirements of the dual mode operation, followed by the design and building of the buoy structure. The research is currently focussed on the development of the modular, reconfigurable, open source-based control system. The NAUTA buoy is innovative, extensible and optimises the on board platform resources.

Evolution of Drug Resistance: Insight on TEM -Lactamases Structure and Activity and Beta-Lactam Antibiotics

Extended-spectrum β-lactamases (ESBLs) prevalence was studied in the north of Portugal, among 193 clinical isolates belonging to citizens in a district in the boundaries between this country and Spain from a total of 7529 clinical strains. In the present study we recovered some members of Enterobacteriaceae family, producing ESBL enzymes, including Escherichia coli (67.9%), Klebsiella pneumoniae (30.6%), Klebsiella oxytoca (0.5%), Enterobacter aerogenes (0.5%), and Citrobacter freundii (0.5%). β-lactamases genes blaTEM, blaSHV, and blaCTX-M were screened by polymerase chain reaction (PCR) and sequencing approaches. TEM enzymes were among the most prevalent types (40.9%) followed by CTX-M (37.3%) and SHV (23.3%). Among our sample of 193 ESBL-producing strains 99.0% were resistant to the fourth-generation cephalosporin cefepime. Of the 193 isolates 81.3% presented transferable plasmids harboring genes. Clonal studies were performed by PCR for the enterobacterial repetitive intragenic consensus (ERIC) sequences. This study reports a high diversity of genetic patterns. Ten clusters were found for E. coli isolates and five clusters for K. pneumoniae strains by means of ERIC analysis. In conclusion, in this country, the most prevalent type is still the TEM-type, but CTX-M is growing rapidly.

Criação de uma Framework Modular Vocacionada para o Desenvolvimento de Videojogos

Os videojogos são cada vez mais uma das maiores áreas da indústria de entretenimento, tendo esta vindo a expandir-se de ano para ano. Para além disso, os videojogos estão cada vez mais presentes no nosso dia-adia, quer através dos dispositivos móveis ou das novas consolas. Com base nesta premissa, é seguro de afirmar que o investimento neste campo trará mais ganhos do que perdas. Esta Dissertação tem como objetivo o estudo do estado da indústria dos videojogos, tendo como principal foco a conceção de um videojogo, a partir duma Framework Modular, desenvolvida também no âmbito desta Dissertação. Para isso, é feito um estudo sobre o estado da arte tecnológico, onde várias ferramentas de criação de videojogos foram estudadas e analisadas, de forma a perceber as forças e fraquezas de cada uma, e um estudo sobre a arte do negócio, ficando assim com uma ideia mais concreta dos vários pontos necessários para a criação de um videojogo. De seguida são discutidos os diferentes géneros de videojogos existentes e é conceptualizado um pequeno videojogo, tendo ainda em conta os diferentes tipos de interfaces que são mais utilizados na indústria dos videojogos, de forma a entender qual será a forma mais viável, conforme o género, e as diferentes mecânicas presentes no videojogo a criar. A Framework Modular é desenvolvida tendo em conta toda a análise previamente realizada, e o videojogo conceptualizado. Esta tem como grande objetivo uma elevada personalização e manutenibilidade, sendo que todos os módulos implementados podem ser substituídos por outros sem criar conflitos entre si. Finalmente, de forma a unir todos os temas analisados ao longo desta Dissertação, é ainda desenvolvido um Protótipo de forma a comprovar o bom funcionamento da Framework, aplicando todas as decisões previamente feitas.

Demand Response Programs Definition Using Demand Price Elasticity to Define Consumers Aggregation for an Improved Remuneration Structure

The positioning of the consumers in the power systems operation has been changed in the recent years, namely due to the implementation of competitive electricity markets. Demand response is an opportunity for the consumers’ participation in electricity markets. Smart grids can give an important support for the integration of demand response. The methodology proposed in the present paper aims to create an improved demand response program definition and remuneration scheme for aggregated resources. The consumers are aggregated in a certain number of clusters, each one corresponding to a distinct demand response program, according to the economic impact of the resulting remuneration tariff. The knowledge about the consumers is obtained from its demand price elasticity values. The illustrative case study included in the paper is based on a 218 consumers’ scenario.

Remuneration Structure Definition for Distributed Generation Units and Demand Response Participants Aggregation

The implementation of competitive electricity markets has changed the consumers’ and distributed generation position power systems operation. The use of distributed generation and the participation in demand response programs, namely in smart grids, bring several advantages for consumers, aggregators, and system operators. The present paper proposes a remuneration structure for aggregated distributed generation and demand response resources. A virtual power player aggregates all the resources. The resources are aggregated in a certain number of clusters, each one corresponding to a distinct tariff group, according to the economic impact of the resulting remuneration tariff. The determined tariffs are intended to be used for several months. The aggregator can define the periodicity of the tariffs definition. The case study in this paper includes 218 consumers, and 66 distributed generation units.

Evolution of Drug Resistance: Insight on TEM β-Lactamases Structure and Activity and β-Lactam Antibiotics

Since the discovery of the first penicillin bacterial resistance to β-lactam antibiotics has spread and evolved promoting new resistances to pathogens. The most common mechanism of resistance is the production of β-lactamases that have spread thorough nature and evolve to complex phenotypes like CMT type enzymes. New antibiotics have been introduced in clinical practice, and therefore it becomes necessary a concise summary about their molecular targets, specific use and other properties. β-lactamases are still a major medical concern and they have been extensively studied and described in the scientific literature. Several authors agree that Glu166 should be the general base and Ser70 should perform the nucleophilic attack to the carbon of the carbonyl group of the β-lactam ring. Nevertheless there still is controversy on their catalytic mechanism. TEMs evolve at incredible pace presenting more complex phenotypes due to their tolerance to mutations. These mutations lead to an increasing need of novel, stronger and more specific and stable antibiotics. The present review summarizes key structural, molecular and functional aspects of ESBL, IRT and CMT TEM β-lactamases properties and up to date diagrams of the TEM variants with defined phenotype. The activity and structural characteristics of several available TEMs in the NCBI-PDB are presented, as well as the relation of the various mutated residues and their specific properties and some previously proposed catalytic mechanisms.